A multi-target tracking algorithm for application to adaptive cruise control

This paper presents a Multiple Target Tracking (MTT) Adaptive Cruise Control (ACC) system which consists of three parts; a multi-model-based multi-target state estimator, a primary vehicular target determination algorithm, and a single-target adaptive cruise control algorithm. Three motion models, which are validated using simulated and experimental data, are adopted to distinguish large lateral motions from longitudinally excited motions. The improvement in the state estimation performance when using three models is verified in target tracking simulations. However, the performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. The MTT-ACC system is tested under lane changing situations to examine how much the system performance is improved when multiple models are incorporated. Simulation results show system response that is more realistic and reflective of actual human driving behavior.     

Vehicle tests of a longitudinal control law for application to stop-and-go cruise control

This paper presents the implementation and vehicle tests of a vehicle longitudinal control scheme for Stop and Go cruise control. The control scheme consists of a vehicle-to-vehicle distance control algorithm and throttle/brake control algorithm for acceleration tracking. The desired acceleration of a vehicle for vehicle-to-vehicle distance control has been designed using Linear Quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. A millimeter wave radar sensor has been used for distance measurement. A stepper motor and an electronic vacuum booster have been used for throttle/ brake actuators, respectively. It has been shown that the proposed control algorithm can provide satisfactory performance.     

虚拟现实技术在武器装备训练中的应用

虚拟现实技术在21世纪得到了进一步的发展和应用,其建模工具MultiGen和开发工具Vega以功能强大著称.在本文中,对以上两种产品进行了介绍,并以武器装备虚拟操作训练系统为背景,提供了一种设计方案.     

Modeling and control of an electronic-vacuum booster for vehicle cruise control

A mathematical model and control laws for an Electronic-Vacuum Booster (EVB) For application to vehicle cruise control will be presented. Also this paper includes performance test result of EVB and vehicle cruise control experiments. The pressure difference between the vacuum chamber and the apply chamber is controlled by a PWM-solenoid-valve. Since the pressure at the vacuum chamber is identical to that of the engine intake manifold, the output of the electronic-vacuum booster is sensitive to engine speed. The performance characteristics of the electronic-vacuum booster have been investigated via computer simulations and vehicle tests. The mathematical model of the electronic-vacuum booster developed in this study and a two-state dynamic engine model have been used in the simulations. It has been shown by simulations and vehicle tests that the EVB-cruise control system can provide a vehicle with good distance control performance in both high speed and low speed stop and go driving situations.     

汽车底盘平台悬架性能仿真模块的开发与应用

为分析某汽车底盘平台对不同车型操控稳定性以及平顺性的适应性,以VC++和ADAMS,开发了底盘平台悬架分析专用模块,该模块可以快速建立前后悬架、其它子系统以及整车的参数化模型,并能快速完成操控稳定性和平顺性的分析优化.通过该模块对两款采用该底盘平台车型A1、A2的前、后悬架进行了运动学仿真分析并建立了整车仿真模型,同时...     

An adaptive control of an autonomous guided vehicle system using cell-mediated immune algorithm controller and vision sensor

In this paper, we proposed an adaptive control method which is named CMIA (cell-mediated immune algorithm) controller with PID scheme. It is based on specific immune response of the biological immune system which is the cell-mediated immune response. It is also applied for the autonomous guided vehicle (AGV) system which is manufactured in this paper. The AGV is used for the port automation to carry container without human and to overcome uncertainty and nonlinearity because of running in the outdoor. To verify the performance of the proposed CMIA controller, some experiments for the AGV system are performed. Finally, the experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods. Key Words: Port Automation, Autonomous Guided Vehicle (AGV), Adaptive Control, Cell-Mediated Immune Algorithm (CMIA) Controller, Vision Sensor, Neural Network Identifier (NNI)     

The application of virtual reality to tasks in manufacturing and assembly engineering

Virtual Reality is a developing technology for which a range of applications are heing explored by different international research groups. This paper describes recent research in the application of Virtual Reality to two important manufacturing and assembly tasks which have a direct influence on the speed of introduction of new products. The tasks are the production of planning documentation for assembled products and the design and planning of the cable harnesses which form part of all electro-mechanical assemblies. The research completed so far demonstrates the potential of Virtual Reality, even at its current stage of technological development, to make a significant contribution in both these cases.     

Estimation of turbine torque using an adaptive nonlinear observer for closed-loop control of vehicle automatic transmissions

This paper presents an adaptive sliding observer-based method for the estimation of turbine torque. The estimations of turbine torque can be used in the closed-loop control of vehicle power train for better shift quality. A sliding observer structure including saturation functions and boundary layers is applied to adapt torque converter parameters. The proposed method has been investigated via simulation and laboratory experimental studies. It has been shown via simulation and experiments that the proposed methodology is promising for the estimations of turbine torque since it uses only inexpensive angular velocity measurements and is not sensitive to parametric uncertainties.     

Control-oriented modeling and adaptive backstepping control for a nonminimum phase hypersonic vehicle

In this paper, the nonminimum phase problem of a flexible hypersonic vehicle is investigated. The main challenge of nonminimum phase is the prevention of dynamic inversion methods to nonlinear control design. To solve this problem, we make research on the relationship between nonminimum phase and backstepping control, finding that a stable nonlinear controller can be obtained by changing the control loop on the basis of backstepping control. By extending the control loop to cover the internal dynamics in it, the internal states are directly controlled by the inputs and simultaneously serve as virtual control for the external states, making it possible to guarantee output tracking as well as internal stability. Then, based on the extended control loop, a simplified control-oriented model is developed to enable the applicability of adaptive backstepping method. It simplifies the design process and releases some limitations caused by direct use of the no simplified control-oriented model. Next, under proper assumptions, asymptotic stability is proved for constant commands, while bounded stability is proved for varying commands. The proposed method is compared with approximate backstepping control and dynamic surface control and is shown to have superior tracking accuracy as well as robustness from the simulation results. This paper may also provide a beneficial guidance for control design of other complex systems.     

车身稳定控制液压控制单元性能试验台开发与试验

目前汽车底盘制动控制技术是汽车领域三大核心技术之一,它是集车辆工程和机电工程,电磁学,控制科学等多交叉学科于一身的车辆稳定控制系统.液压控制单元(HCU)是底盘制动系统的主要执行机构,它性能的好坏直接决定了车辆行驶安全性.该文从产业化角度对HCU基础试验作深入地研究与分析,主要涉及HCU的结构、各部件典型特征及测试方法;重点讨论HCU研发过程和实验过程中的关键技术,为ABS/ESP产业化和试验研发提供了宝贵经验和依据,也证实了性能试验台实用性.     

基于虚拟仪器的材料拉伸试验机测控系统

采用理论和试验相结合的方法,系统地开发了一套基于虚拟仪器的材料拉伸试验机测控系统。其中硬件部分由高精度传感器监测系统实现。考虑到测控软件的可操作性和直观性,采用LabVIEW开发了该系统软件平台。重点介绍G语言编程技巧、程序图结构特点和动态链接库技术的应用。     

An autonomous unmanned underwater control test vehicle: platform description and experiments

This paper presents an autonomous unmanned underwater vehicle (AUUV) that can be used as a support tool for research tasks in underwater exploration, and as a platform to test different control, communication, or vision algorithms. The vehicle operates without an external power cable and with an original modular program where a web page is enabled as a graphical user interface for wireless communication with the vehicle when it is not submerged. The modular design of the program, based on open-source libraries, allows updating or modifying the configuration of each of its main modules: control, inertial unit, and vision. Experimental results are shown to validate the performance of the proposed vehicle, implementing a non-linear control that includes a PID for the trajectory tracking of its pose (position and orientation).

     

Functional testing of measurement-based control systems: An application to automotive

The number of measurement-based embedded systems increases continuously in automotive, avionic, defense, and communication industries. In order to ensure the system’s compliance with requirements, adequate solutions for functional testing are needed. The paper describes an original approach for the functional validation of measurement-based complex control systems. The main focus is on the automatic generation of realistic continuous data sets (test stimuli) within the operational ranges of the measurement system under test, by applying enhanced statistical techniques, which are able to reproduce both timing and data dependencies. A thorough case study using an air fuel ratio control system from the automotive domain is performed to assess the approach. Results indicate that the proposed method is suitable for automated functional testing of embedded control systems within a Software-in-the-Loop test environment.     

自适应的模糊增强算法及其在工程扫描图中的应用

由于噪声等原因,工程图在输入计算机时会使图象质量下降,造成图象中诸如细线、角点等重要的细节信息丢失和破坏。采用模糊理论,可以处理模糊信息的模糊增强算法能够有效地消除噪声和保护细节特征,使图象质量得到改善。但是图象转折点xc的合理选择是保证模糊增强效果的关键。因此,提出一种自适应模糊增强算法能够根据不同的图象自动选择最佳的转折点。实验证明,本算法具有较好的增强效果。     

Static and low order anti-windup synthesis for cascade control systems with actuator saturation: An application to temperature-based process control

In this paper, a new framework for designing static and low order anti-windup compensator (AWC) for industrial cascade control systems with actuator saturation constraint is presented. Based on less conservative block diagonal quadratic Lyapunov function, sector boundedness, decoupled architecture, norm reduction and cascade loop compensation, linear matrix inequalities are developed which guarantee stability and suitable performance for overall closed-loop system. Static AWC parameters are obtained by comparing the full order AWC architecture with generalized architecture for cascade control system. Low order AWC is designed by sub-optimal approach in which AWC weights are tuned by designer. Anti-windup compensator is divided into inner and outer loop compensators which compensate the effect of saturation at each level. It is observed that the proposed methodology is less conservative than the traditional AWC schemes when applied to cascade control systems. The proposed scheme is successfully tested experimentally on a temperature-based process control system and results are outlined.     

A novel anti-windup framework for cascade control systems: An application to underactuated mechanical systems

This paper describes the anti-windup compensator (AWC) design methodologies for stable and unstable cascade plants with cascade controllers facing actuator saturation. Two novel full-order decoupling AWC architectures, based on equivalence of the overall closed-loop system, are developed to deal with windup effects. The decoupled architectures have been developed, to formulate the AWC synthesis problem, by assuring equivalence of the coupled and the decoupled architectures, instead of using an analogy, for cascade control systems. A comparison of both AWC architectures from application point of view is provided to consolidate their utilities. Mainly, one of the architecture is better in terms of computational complexity for implementation, while the other is suitable for unstable cascade systems. On the basis of the architectures for cascade systems facing stability and performance degradation problems in the event of actuator saturation, the global AWC design methodologies utilizing linear matrix inequalities (LMIs) are developed. These LMIs are synthesized by application of the Lyapunov theory, the global sector condition and the _?2${?}_2$ gain reduction of the uncertain decoupled nonlinear component of the decoupled architecture. Further, an LMI-based local AWC design methodology is derived by utilizing a local sector condition by means of a quadratic Lyapunov function to resolve the windup problem for unstable cascade plants under saturation. To demonstrate effectiveness of the proposed AWC schemes, an underactuated mechanical system, the ball-and-beam system, is considered, and details of the simulation and practical implementation results are described.     

An adaptive SK technique and its application for fault detection of rolling element bearings

In this paper, we propose an adaptive spectral kurtosis (SK) technique for the fault detection of rolling element bearings. The primary contribution is adaptive determination of the bandwidth and center frequency. This is implemented with successive attempts to right-expand a given window along the frequency axis by merging it with its subsequent neighboring windows. Influence of the parameters such as the initial window function, bandwidth and window overlap on the merged windows as well as how to choose those parameters in practical applications are explored. Based on simulated experiments, it can be found that the proposed technique can further enhance the SK-based method as compared to the kurtogram approach. The effectiveness of the proposed method in fault detection of the rolling element bearings is validated using experimental signals.     

Designing a control mechanism using earned value analysis: an application to production environment

Earned value analysis is a project performance method which simultaneously presents both cost and schedule performances. The purpose of this paper is to model the uncertainty associated with activity duration in earned value analysis. The approach incorporates to design a control mechanism, which would be applicable through production control as well as project management problems. The job processing times have been considered as triangular fuzzy number. Costs are assumed to be directly related to fuzzy activity time, which are estimated through a bottom up hierarchy process. Consequently, different earned value metrics have been achieved. Research findings provide an efficient control mechanism in earned value analysis, which would be highly applicable in production control area. This research also yields a novel approach for representing a production performance index during implementation of production processes. In addition to the above mentioned issues, forecasting features can be further performed for predicting completion time of products for delivery to the customer. The approach presented in this paper has been successfully implemented through a multi-period–multi-product production planning problems, which efficiently demonstrates the applicability of the proposed control mechanism.     

Sensorless and modeless estimation of external force using time delay estimation: application to impedance control

This paper proposes an external force estimation algorithm that requires neither dynamical models nor force-torque (F/T) sensors. Considering cost reduction, ‘indirect estimation’ of external force can be preferable to ‘direct sensing’ of the force. However, the explicit use of robot dynamical models, required by most previous studies on ‘indirect estimation’ of external force, can be practically unfavorable due to inevitable modeling errors as well as arduous identification of system parameters. As a remedy for this problem, the Time-Delay Estimation (TDE) scheme has been incorporated in this research. TDE efficiently provides an accurate estimate of nonlinear robot dynamics including external force. Using TDE, the external force has been effectively and efficiently estimated without F/T sensors or robot dynamical models. Through application to impedance control of a robot, the practical advantages of the proposed estimation algorithm are demonstrated.